fix(behavior_path_planner): drivable area with static obstacles

[takayuki5168]

Description

This includes the change of #2852

dealt with complicated static obstacles

rough sketch of the algorithm on this PR.

case1
before

after

case2
before

after

case3
before

after

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Base: 11.77% // Head: 11.75% // Decreases project coverage by -0.02% ⚠️

Coverage data is based on head (732a8d7) compared to base (46e6315).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2880      +/-   ##
==========================================
- Coverage   11.77%   11.75%   -0.02%     
==========================================
  Files        1324     1325       +1     
  Lines       92960    93058      +98     
  Branches    25076    25140      +64     
==========================================
  Hits        10942    10942              
- Misses      70543    70641      +98     
  Partials    11475    11475              

Flag	Coverage Δ		*Carryforward flag
differential	6.11% <0.00%> (?)
total	11.78% <ø> (+0.01%)	⬆️	Carriedforward from 46e6315

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
...r/scene_module/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...planner/scene_module/avoidance/avoidance_utils.hpp	0.00% <0.00%> (ø)
...th_planner/scene_module/scene_module_interface.hpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/avoidance/avoidance_utils.cpp	0.76% <0.00%> (-0.24%)	⬇️
...er/include/scene_module/scene_module_interface.hpp	0.00% <ø> (ø)

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.

[zulfaqar-azmi-t4]

LGTM!

Additional note 1:
Function is checked and worked as expected.
As of this PR is tested, the following flag needs to be set to true

enable_bound_clipping
disable_path_update

Additional note 2:
avoidance still will not work when the the function is enable, but it will be solve in the near future.